CN113716460A - Built-in bracket type lifter - Google Patents

Abstract

The invention discloses a built-in bracket type lifter, which comprises a clamping mechanism, a lifting hook connected with the clamping mechanism, a chain cable mechanism connected with the clamping mechanism, and a lifting mechanism connected with the chain cable mechanism, wherein the lifting hook is arranged on the clamping mechanism; the lifting hook is movably connected with the lifting mechanism; the lifting mechanism comprises a connecting rod assembly and a supporting plate assembly, the connecting rod assembly comprises a pair of upper connecting rods and a pair of lower connecting rods, and the upper connecting rods and the lower connecting rods are connected through second pin shafts; the bracing plate component is hinged between the pair of lower connecting rods. The distance between the pedestals of the upper base and the lower base is variable, so that the included angle between the upper connecting rod and the lower connecting rod in each group of connecting rod assemblies hinged with the pedestals is changed, the diameter of the rotating center of each supporting plate hinged with the connecting rod assembly is changed, the expanded space range of the supporting feet below the supporting plates is driven to be enlarged, batch workpieces with different inner diameter hole types and sizes can be lifted and transported, the application range is wide, and the universality is high.

Description

Built-in bracket type lifter

Technical Field

The invention relates to the field of lifting and carrying of mechanical workpieces/working devices, in particular to a built-in bracket type lifter.

Background

The robot is often used for replacing the repetitive work of boring, monotonous and high labor intensity or the dangerous work under severe and extreme working conditions in the manufacturing and production. The use of the complete equipment of the robot automatic production line ensures the production quality of products, improves the production efficiency of the products, reduces the production cost of the products, avoids industrial accidents, and is a mainstream development and key investment object of enterprise automatic production equipment. The application of large-size inner diameter workpieces in structural members in industrial production is very wide, and lifting and carrying of the workpieces are the most common process flows. A common grabbing device at the tail end of the robot is a claw-shaped manipulator, small workpieces can be clamped smoothly, but workpieces or working devices with larger or larger inner diameters can not be clamped smoothly due to the small size of a chuck.

The invention discloses an inner-supporting jaw type robot, which aims at the current situation that a robot adopts a two-jaw inner-supporting jaw to clamp an unstable part and uses a three-jaw inner-supporting jaw to clamp a workpiece to work for a long time, and the robot still has unstable clamping, the invention with the application number of 201610737426.4 discloses an inner-supporting jaw type robot. The robot clamps the workpiece from the inner diameter position through the plurality of jaws, and the electromagnetic force generated by the electromagnet drives the central shaft arranged on the connecting plate to move downwards, so that the supporting component on the robot can open the plurality of jaws and tightly support the workpiece. The sliding between the claw and the workpiece is detected through a sliding sensor positioned at the tail end of the claw, and then a detection result is fed back to a robot control system to control the balance between the electromagnetic force generated by the electromagnet and the friction force generated between the claw and the supporting component, so that the effect of firmly clamping the workpiece is achieved.

According to the technical scheme, when the inner diameter workpiece is clamped, the clamping action is realized by opening the clamp claws through the support parts of the inverted cone or inverted truncated cone structures fixed on the central shaft. When heavy workpieces are clamped, the extrusion force of the side face of the supporting component and the side face of the jaw is large, and the electromagnet is required to provide large electromagnetic force to overcome the friction force generated by the relative motion between the jaw and the supporting component, so that the workpiece is firmly clamped by the jaw. Therefore, the electromagnet is required to be large in size, so that the gravity of the whole structure is large, and the weight of the robot for clamping the workpiece is reduced under the condition that the lifting weight of the robot is certain, so that the electromagnet is not suitable for clamping heavy workpieces with inner diameters. The device contains the electro-magnet, and the during operation produces magnetic field, can not use in the operational environment that anti magnetic interference ability is weak, and the use occasion has the limitation. Although the rubber layer is arranged on the periphery of the supporting part, the friction force between the workpiece supporting part and the clamp claws is large and frequent, so that the service life of the rubber layer is short, the maintenance is inconvenient, and the popularization is low. The technical scheme has the advantages of fixed structure, small change of the supporting range of the clamp claws and lower universality in the process of clamping workpieces with different inner diameters.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a built-in bracket type lifter which is wide in application range, strong in universality, high in efficiency and quick.

The technical scheme is as follows: the invention relates to a built-in bracket type lifter, which comprises a clamping mechanism, a lifting hook connected with the clamping mechanism, a chain cable mechanism connected with the clamping mechanism, and a lifting mechanism connected with the chain cable mechanism; the lifting hook is movably connected with the lifting mechanism; the lifting mechanism comprises a connecting rod assembly and a supporting plate assembly, the connecting rod assembly comprises a pair of upper connecting rods and a pair of lower connecting rods, and the upper connecting rods and the lower connecting rods are connected through second pin shafts; the supporting plate component is hinged between the pair of lower connecting rods; and the lifting systems consisting of the chain cable mechanisms, the connecting rod assemblies and the supporting plate assemblies are uniformly distributed around the central axis of the lifter.

Furthermore, the clamping mechanism comprises a clamping seat, a lifting lug plate arranged on the lower bottom surface of the clamping pedestal, a hanging pin shaft and a chain cable hinge lug plate fixed on the side surface of the clamping seat, and the chain cable hinge lug plate is hinged with the chain cable mechanism; the hanging pin shaft is used for fixing the hanging hook.

Furthermore, the clamping seat is a regular hexagonal prism, a cylinder is arranged at the top of the clamping seat, and the cylinder is a manipulator grabbing handle of the transfer robot.

Furthermore, the upper end of the lifting hook is provided with a hole for hanging the pin shaft to move, and the hole is in an asymmetric ingot shape.

Further, the chain cable mechanism comprises a chain cable and a first pin shaft; the chain cable is an oval chain ring structure which is connected in series, the upper end of the chain cable is hinged on a clamping seat side lug plate through a first pin shaft in the self mechanism, and the lower end of the chain cable is fixedly connected on a supporting plate component hinged in the lifting mechanism through a shackle.

Furthermore, the lifting mechanism comprises a base assembly, the base assembly comprises an upper base and a lower base, the upper base is connected with the upper connecting rod, and the lower base is connected with the lower connecting rod.

Furthermore, a trapezoidal block is arranged in the center of the top surface of the upper base, two lifting lug plates are respectively arranged on two sides of the trapezoidal block, a fixed lifting pin shaft is arranged between the two lifting lug plates, and the fixed lifting pin shaft is connected with a lifting hook in a hanging mode; the trapezoidal block prevents the hook end of the lifting hook from horizontally sliding, and facilitates the rotation of the hook end in the plane around the axis of the vertical pin shaft; the lifting hook can realize automatic hooking and unhooking under the combined action of self eccentric gravity, the gravity of the clamping mechanism connected with the lifting hook and a trapezoidal ridge structure arranged on a lifting mechanism below the lifting hook in contact with the hook end.

Furthermore, the upper base is of a regular hexagonal prism structure with a groove, and the groove is used for reducing the movement interference with the chain cable; the side surface of the upper base is provided with a connecting rod hinged lug plate which is used for being connected with an upper connecting rod; the center of the lower bottom surface of the pedestal of the upper base is provided with a cylindrical barrel, and the bottom of the cylindrical barrel is provided with a chamfer angle to be favorable for being assembled with the lower base.

Furthermore, the lower base is of a hexagonal frustum structure with a groove and is connected with the lower connecting rod through a connecting rod hinge lug plate arranged on the side surface; preferably, the lower base is of a's' -shaped structure and comprises a first pedestal and a second pedestal, the first pedestal is of a regular hexagonal prism structure and is provided with a groove, and the groove is convenient for folding the supporting plates; a connecting rod hinge lug plate is arranged on the side surface of the first pedestal and connected with a lower connecting rod; a solid cylinder is arranged in the center of a pedestal of the first pedestal and assembled with the upper pedestal; a cylinder is arranged in the center of the pedestal of the second pedestal and used for supporting the lifting mechanism and reducing the motion resistance when the supporting plates are unfolded and folded.

Further, the upper base and the lower base are connected through a positioning pin shaft. The distance between the pedestal can be adjusted by the positioning pin shaft for disassembling the upper base and the lower base, the included angle between each group of connecting rod assemblies is changed, the diameter of the rotating center of each group of supporting plates hinged to the lower connecting rod is changed, the expanded space range of the supporting feet below each supporting plate is driven to increase, and the lifting and the carrying of workpieces with different large-size inner diameters are realized.

Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: (1) the grabbing is convenient and fast, and the work is reliable; according to the grabbing characteristics of the mechanical arm, a cylinder grabbing handle is arranged at the upper part of the clamping mechanism of the built-in bracket type lifter, a uniformly distributed plane is machined on the cylindrical surface of the cylinder along the axial direction, the contact area between fingers of a robot hand and the grabbing handle is increased, a boss is arranged at the top of the handle, the potential safety hazard caused by the slipping of the lifter when the robot hand grabs the built-in bracket type lifter to lift a workpiece is avoided, and the working reliability is improved;

(2) automatic hanging and taking off without intervention; the lifting hook of the built-in bracket type lifter is set to be of an approximate regular triangular prism structure, the upper part of the side plate is provided with an asymmetric ingot-shaped hole, the bottom surface contacted with the hook end is provided with a trapezoidal ridge structure, the hook end can form an instant rotating shaft after being contacted with a contact surface, and under the action of resultant force generated by the eccentric gravity of the lifting hook and the gravity of a clamping mechanism connected with the lifting hook, the lifting hook is driven to rotate anticlockwise or clockwise, so that automatic hooking and unhooking are realized, manual intervention is not needed, convenience and rapidness are realized, and the working efficiency is high;

(3) the application range is wide, and the universality is strong; this built-in posture lifting ware base subassembly is for approximate inverted hexagonal prism table structure, the direction when being convenient for built-in lifting, the pedestal interval of upper and lower base is variable, drive the contained angle change between the upper and lower connecting rod in each group of link assembly articulated with it, arouse and change with the size of each fagging rotation center place diameter of link assembly articulated, order about the increase of the spatial dimension that the stand bar below propped open, can promote and carry the batch work piece of different internal diameter pass and size, the application scenario is wide, and the commonality is strong.

Drawings

FIG. 1 is a front view of the present invention, wherein (a) is a non-operating state and (b) is an operating state;

FIG. 2 is a top view and a bottom view of the present invention, wherein (a) is a non-operation top view, (b) is an operation top view, (c) is a non-operation bottom view, and (d) is an operation bottom view;

FIG. 3 is a schematic view of the gripping mechanism of the present invention;

FIG. 4 is a schematic view of the hook structure of the present invention;

FIG. 5 is a schematic view of the position of the chain mechanism of the present invention in a built-in outrigger lifter;

FIG. 6 is a schematic view of a chain structure of the present invention;

FIG. 7 is a schematic view of the lifting mechanism of the present invention;

FIG. 8 is a schematic view of a base assembly of the present invention;

FIG. 9 is a schematic view of the upper base structure of the present invention;

FIG. 10 is a schematic view of the structure of the sub-mount of the present invention;

FIG. 11 is a schematic view of the upper link structure of the present invention;

FIG. 12 is a schematic view of the lower link structure of the present invention;

fig. 13 is a schematic view of a strut plate structure of the present invention;

FIG. 14 is a schematic diagram of the automatic unhooking process of the hook of the present invention, (a) the hooking pin is disengaged from the upper left position I of the hook, (b) the hooking pin applies a force to the lower left position II of the hook, (c) the hooking pin slides over the right side position III of the salient point of the hook profile, and (d) the hooking pin enters the upper right position IV of the hook;

fig. 15 is a schematic diagram of the automatic hooking process of the hook according to the present invention, (a) the hooking pin is disengaged from the upper right position IV of the hook, (b) the hooking pin exerts a force on the lower right position V of the hook, (c) the hooking pin slides over the left position VI of the salient point of the hook profile, and (d) the hooking pin enters the upper left position I of the hook.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

In the figure, 1, a clamping mechanism; 11. a gripping base; 12. hanging a pin shaft; 2. a hook; 3. a chain cable mechanism; 31. a chain cable; 32. a first pin shaft; 4. a lifting mechanism; 41. a base assembly; 411. an upper base; 412. a lower base; 413. positioning a pin shaft; 414. lifting the pin shaft; 42. a connecting rod assembly; 421. an upper connecting rod; 422. a lower connecting rod; 423. a second pin shaft; 424. a cotter pin; 43. a bracing plate assembly; 431. a supporting plate; 432. and a third pin shaft.

As shown in fig. 1 to 2, the inner frame type lifter of the present invention includes four parts of a gripping mechanism 1, a hook 2, a chain mechanism 3, and a lifting mechanism 4. The clamping mechanism 1 is arranged at the top of the built-in bracket type lifter, the lifting mechanism 4 is connected with the clamping mechanism 1 into a whole through the lifting hook 2 or the chain cable mechanism 3, and the lifting mechanism is hung on a mechanical arm at the tail end of the robot to automatically complete lifting and carrying of large-size inner-diameter workpieces.

As shown in fig. 3, press from both sides and get mechanism 1 and press from both sides seat 11 and articulate 12 two parts of round pin axle including pressing from both sides, press from both sides 11 upper portion cylinders of getting and snatch the handle for the manipulator, around the three equipartition plane of axial processing on the face of cylinder, increase the manipulator finger and snatch the area of contact between the handle, it is equipped with the boss to snatch the handle top, avoid the robot to snatch the potential safety hazard that the lifting mechanism slippage arouses when built-in posture lifting mechanism promotes the work piece, press from both sides 11 pedestals and set up regular hexagonal prism structure, the side sets up three pairs of chain cable articulated otic placodes, the bottom surface is equipped with the promotion otic placode under the pedestal, the fixed round pin axle 12 that articulates in below, a promotion and the transport action for articulating lifting hook 2 and realizing the work piece.

As shown in fig. 4, the lifting hook 2 is set to be an approximate regular triangular prism structure, the upper part of the side plate is provided with an asymmetric ingot-shaped through hole structure, and the hanging pin shaft 12 penetrating through the through hole can move freely, so that the hanging or unhooking between the lifting hook 2 and the lifting mechanism 4 is realized.

As shown in fig. 5-6, the upper end of the chain 31 in the chain mechanism 3 is hinged to the clamping mechanism 1 through a first pin 32 in the mechanism itself, and the lower end of the chain is fixedly connected to the supporting plate assembly 43 of the lifting mechanism 4 through a shackle, for controlling the expansion of the supporting plate assembly 43 in the lifting mechanism 4, so as to realize the lifting of the large-size inner diameter workpiece.

In one embodiment, the chain 31 may be replaced with a wire rope or other flexible body.

As shown in fig. 7, the lifting mechanism 4 has an approximately inverted hexagonal frustum structure, which is convenient for the built-in bracket type lifter to have a good guiding function after being placed into a workpiece with a large inner diameter. The mechanism consists of a base component 41, a connecting rod component 42 and a supporting plate component 43; the base assembly 41 is composed of an upper base 411 and a lower base 412. Lifting lug plates are arranged on the upper bottom surface of the upper base 411, and lifting pin shafts 414 are fixed above the two lug plates and matched with the lifting hook 2, so that the supporting plate component 43 in the lifting mechanism is folded under the action of self eccentric gravity; the upper bottom surface of the pedestal below the two lug plates is provided with a trapezoidal ridge structure, so that the lifting hook 2 and the lifting mechanism 4 can be lifted and separated conveniently, and the pedestal is of a regular hexagonal prism structure with a groove, so that the movement interference with the chain cable 31 is reduced; a cylindrical barrel is arranged in the center of the lower bottom surface of the pedestal, and an inner hole chamfer of the lower end surface of the barrel plays a role in guiding when being matched with the lower pedestal 412; the lower base 412 is provided in a "S-shaped" structure. The center of the bottom surface of the upper pedestal is respectively welded with cylinders with different diameters, the upper cylinder is vertically provided with evenly distributed pin shaft holes matched with the upper pedestal cylinder along the axial direction, and is positioned by a positioning pin shaft 413, the structure can adjust the distance between the pedestals of the upper pedestal 411 and the lower pedestal 412 according to the size of the inner diameter of a lifting workpiece, change the included angle between the upper connecting rod 421 and the lower connecting rod 422 in each group of connecting rod assemblies 42, change the size of the diameter of the rotating center of each supporting plate 431 hinged on the lower connecting rod 422, increase the space range expanded by the supporting feet below each supporting plate 431, and realize the lifting and the carrying of workpieces with different large inner diameters; the lower cylinder serves to support the lifting mechanism 4 and to reduce the resistance to movement of the stay plate 431 when it is spread and spread. The upper and lower pedestal has a regular hexagonal prism structure, the upper pedestal is also provided with a groove structure, the supporting plate 431 is favorably folded, and the lower pedestal is arranged to increase the stability of the lifting mechanism 4 during operation.

As shown in fig. 8-13, the linkage assembly 42 is comprised of an upper link 421 and a lower link 422. The upper connecting rod 421 and the lower connecting rod 422 have an A-shaped guide flat key-shaped structure, and besides two ends of the A-shaped guide flat key-shaped structure are respectively provided with a pin shaft hole, the middle part of the lower connecting rod 422 is also provided with a pin shaft hole hinged with the supporting plate component 43; the upper connecting rod 421 and the lower connecting rod 422 and the other end of the connecting rod are hinged to each other and to the ear plates on the side surfaces of the upper base 411 and the lower base 412 respectively through a second pin 423, and the connecting rod assembly 42 is used for supporting the supporting plate assembly 43 hinged to the lower connecting rod 422. The supporting plate component 43 is composed of a supporting plate 431 and a supporting plate third pin shaft 432, the supporting plate 431 is hinged with the lower connecting rod 422 through the third pin shaft 432, the supporting plate 431 is of an approximate hook-shaped structure with the gravity center deviated to a cylindrical hole, and the supporting plate 431 is in a folded state when not in work. After the built-in bracket type lifter is installed, all pin shafts are axially fixed by using the cotter pins 424, and a lifting system consisting of the chain cable mechanism 3, the connecting rod assembly 42 and the supporting plate assembly 43 is uniformly distributed in pairs at 120 degrees around the central axis of the lifter.

The working principle of the built-in bracket type lifter is as follows:

as shown in fig. 14, in the non-operating state of the internal support frame type lifter, the lifting pin 414 on the upper part of the lifting mechanism 4 is hooked by the lifting hook 2 hung on the gripping mechanism 1, the chain cable 31 is in a loose state, and each supporting plate 431 in the lifting mechanism 4 is folded towards the central shaft of the lifter under the action of its own eccentric gravity. After a mechanical arm at the tail end of the robot grabs a grabbing handle in a built-in support type lifter, a lifting mechanism 4 is placed into the interior of a workpiece with a large inner diameter to be lifted and carried, after a platform below a lower base is contacted with the bottom, if the mechanical arm is continuously lowered, a lifting hook 2 is separated from a lifting pin 414 on the upper part of the lifting mechanism 4, the bottom is contacted with a trapezoidal ridge structure between two lifting lugs of an upper base 411 in the lifting mechanism 4, a hanging pin 12 in a clamping mechanism 1 is separated from an upper left position I of the lifting hook 2, the hook end of the lifting hook 2 slides to the bottom of the trapezoidal ridge under the action of gravity, an instant rotating shaft is formed by the hook end and a contact surface, an asymmetric shoe-shaped ingot structure is arranged on the upper part of a side plate of the lifting hook 2, when the hanging pin 12 is moved to a lower left position II of the lifting hook 2, the lifting hook 2 rotates anticlockwise under the action of the resultant force generated by the eccentric gravity of the self and the gravity of the clamping mechanism 1 on the upper part, and then the clamping mechanism 1 is lifted upwards, the hanging pin shaft 12 hung on the hanging pin shaft rises, at the moment, the hanging pin shaft 12 slides over the right side position III of the convex point of the upper outline of the shoe-shaped hole, enters the upper right position IV of the shoe-shaped hole, continues to lift, the lifting hook 2 rotates anticlockwise again under the driving of the eccentric gravity moment, and is separated from the interference of the lifting pin shaft 414 moving in the vertical direction, and the automatic unhooking process is completed. The clamping mechanism 1 continues to ascend, the chain cable 31 is gradually straightened, the supporting plates 431 hinged on the connecting rod assembly 42 in the lifting mechanism 4 are pulled to rotate anticlockwise around the third pin shaft 432, each supporting plate 431 is spread, the inner wall of a workpiece to be lifted and carried is clamped, and at the moment, the workpiece is lifted.

As shown in fig. 15, after the workpiece is conveyed to a designated position, the clamping mechanism 1 continues to be lowered, the chain 31 hinged to the clamping mechanism 1 is loosened, the supporting plate 431 hinged to the connecting rod assembly 42 in the lifting mechanism 4 rotates clockwise around the third pin 432 under the action of eccentric gravity, each supporting leg is separated from the inner wall of the workpiece and returns to a folded state, the hook 2 approaches the lifting mechanism 4, after the hook 2 touches the trapezoidal ridge structure below the space between the two lifting lugs of the upper base 411 in the lifting mechanism 4, the hook end and the contact surface form an instant rotating shaft, the hanging pin 12 in the clamping mechanism 1 is separated from the upper right position IV of the hook 2, at this time, although the hook 2 has a tendency of being biased to be fixedly connected above the two lifting lugs of the upper base 411 in the lifting mechanism 4 under the action of eccentric gravity to lift the pin 414, the time for separating the hanging pin 12 from the hook 2 is short, and when the hanging pin 12 is moved down to the lower right V of the hook 2, the lifting hook 2 is deviated to the reverse direction of a lifting pin shaft 414 in the lifting mechanism 4 under the action of the gravity of the clamping mechanism 1 hung at the upper part and the resultant force generated by the eccentric gravity of the lifting hook 2, then the clamping mechanism 1 is lifted upwards, the hanging pin shaft 12 hung on the lifting hook 1 rises to slide over the left side position VI of the outline convex point at the upper part of the shoe-shaped hole of the lifting hook 2, the shoe-shaped hole enters the upper left position I of the shoe-shaped hole and continues to lift, the lifting hook 2 rotates clockwise under the drive of the eccentric gravity moment of the lifting hook 2, the lifting pin shaft 414 in the lifting mechanism 4 is hooked, and the automatic hooking process is completed. The clamping mechanism 1 continues to ascend, the lifting hook 2 drives the lifting mechanism 4 to ascend through the hooked lifting pin shaft 414, the built-in bracket type lifter is separated from the interior of the conveyed workpiece, one conveying process is completed, the lifter moves to the next workpiece, the working processes are repeated, and lifting and conveying of all the workpieces are completed.

The invention can be applied to working devices for lifting or assembling large-size inner-diameter revolution curved surface workpieces by moving or fixed engineering hoisting machinery and the like by improving the structure of the grabbing mechanism and changing the distribution mode of a hoisting system consisting of the chain cable mechanism, the connecting rod assembly and the supporting plate assembly around the central axis of the lifter.

For the technicians in the technical field of the invention, various improvements can be made without departing from the concept of the invention: if the grabbing handle at the upper part of the clamping mechanism is changed into a hanging ring to be hung with other working devices, the pedestals in the clamping mechanism and the lifting mechanism are changed into a revolving body or a non-regular hexagonal prism structure, a hinged lug plate and the pedestals are changed into a hanging structure, a chain cable hinged with the lifting mechanism is changed into a steel wire rope or other flexible bodies, a lifting hook is changed into a semi-automatic hanging and unhooking mode, a base assembly is changed into an inverted round table, an inverted cone or an inverted prism structure, a connecting rod assembly is changed into a gap-matched tenon-and-mortise structure, a supporting plate is changed into other types of integral or assembled and welded asymmetric bending structures, a hinged pin shaft is changed into bolt connection, a trapezoidal roof is changed into a triangular roof, a lifting system formed by the chain cable mechanism, the connecting rod assembly and the supporting plate assembly is changed into other distribution modes around the central axis of a lifter, and the like, so that large-size inner diameter workpieces or assembled working devices are lifted and transported; the above modifications are all covered by the scope of the claimed technical solution.

Claims (10)

1. A built-in bracket type lifter is characterized by comprising a clamping mechanism (1), a lifting hook (2) connected with the clamping mechanism (1), a chain cable mechanism (3) connected with the clamping mechanism (1), and a lifting mechanism (4) connected with the chain cable mechanism; the lifting hook (2) is movably connected with the lifting mechanism (4); the lifting mechanism (4) comprises a connecting rod assembly (42) and a supporting plate assembly (43), the connecting rod assembly (42) comprises a pair of upper connecting rods (421) and a pair of lower connecting rods (422), and the upper connecting rods (421) and the lower connecting rods (422) are connected through second pin shafts (423); the bracing plate assembly (43) is hinged between a pair of lower links (422).

2. The built-in bracket type lifter according to claim 1, characterized in that the clamping mechanism (1) comprises a clamping seat (11), a hanging pin shaft (12) and an ear plate fixed on the side of the clamping seat (11), and the ear plate is hinged with the chain cable mechanism (3); the hanging pin shaft (12) is connected with the lifting hook (2).

3. The built-in bracket lifter according to claim 2, characterized in that the gripping base (11) is a regular hexagonal prism and the top is provided with a cylinder.

4. The built-in bracket type lifter according to claim 2, wherein the upper end of the lifting hook (2) is provided with a hole for hanging the pin shaft (12) for movement, and the hole is in an asymmetric ingot shape.

5. A boom-in lifter according to claim 1, characterized in that the chain mechanism comprises a chain (31) and a first pin (32).

6. A built-in support lifter according to claim 1, wherein the lifting mechanism (4) comprises a base assembly (41), the base assembly (41) comprising an upper base (411) and a lower base (412), the upper base (411) being connected with an upper link (421), the lower base (412) being connected with a lower link (422).

7. The built-in bracket type lifter according to claim 6, wherein a trapezoidal block is arranged at the center of the top surface of the upper base (411), two lifting lugs are respectively arranged at two sides of the trapezoidal block, a fixed lifting pin shaft (414) is arranged between the two lifting lugs, and the fixed lifting pin shaft (414) is hooked with the lifting hook (2).

8. A lifter with built-in bracket according to claim 6, characterized in that the upper base (411) is a regular hexagonal prism structure with a groove, and is connected with the upper link (421) through a link hinge lug plate arranged on the side.

9. A boom hoist in accordance with claim 6 wherein the lower base (412) is a hexagonal frustum structure with a groove and is connected to the lower link (422) by a laterally disposed link hinge lug.

10. A lifter with built-in bracket according to claim 6, characterized in that the upper base (411) and the lower base (412) are detachably connected by a positioning pin (413).

Images